Adjustment of maximum brake pump speed based on rate of change of target deceleration

ABSTRACT

Method and apparatus are disclosed for adjustment of maximum brake pump speed based on rate of change of target deceleration. An example vehicle includes a brake pump having a maximum pump speed. The example vehicle also includes a vehicle decelerator to determine a target deceleration for autonomous deceleration and send a signal to the brake pump to decelerate the vehicle at the target deceleration. The example vehicle also includes a maximum speed regulator to determine a rate of change of the target deceleration and adjust the maximum pump speed based on the rate of change.

CROSS-REFERENCE TO RELATED APPLICATION

This application is related to U.S. application Ser. No. 15/400,626filed on Jan. 6, 2017, which is incorporated herein by reference in itsentirety.

TECHNICAL FIELD

The present disclosure generally relates to brake pumps and, morespecifically, adjustment of maximum brake pump speed based on rate ofchange of target deceleration.

BACKGROUND

Typically, a vehicle includes a braking system to slow down ordecelerate the vehicle. Some braking systems include a brake pedal, abrake cylinder, brake lines, and wheel brakes. In such examples, thebrake cylinder generates hydraulic pressure when a driver presses thebrake pedal. The hydraulic pressure is supplied to the wheel brakes viathe brake lines. The wheel brakes subsequently engage wheels of thevehicle to limit and/or deter rotation of the wheels and, thus, to stopand/or otherwise decelerate the vehicle.

SUMMARY

The appended claims define this application. The present disclosuresummarizes aspects of the embodiments and should not be used to limitthe claims. Other implementations are contemplated in accordance withthe techniques described herein, as will be apparent to one havingordinary skill in the art upon examination of the following drawings anddetailed description, and these implementations are intended to bewithin the scope of this application.

Example embodiments are shown for adjustment of maximum brake pump speedbased on rate of change of target deceleration. An example disclosedvehicle includes a brake pump having a maximum pump speed. The exampledisclosed vehicle also includes a vehicle decelerator to determine atarget deceleration for autonomous deceleration and send a signal to thebrake pump to decelerate the vehicle at the target deceleration. Theexample disclosed vehicle also includes a maximum speed regulator todetermine a rate of change of the target deceleration and adjust themaximum pump speed based on the rate of change.

An example disclosed method for autonomous deceleration of a vehicleincludes determining, via a processor, a target deceleration for avehicle and sending a signal to a brake pump to decelerate the vehicleat the target deceleration. The brake pump has a maximum pump speed. Theexample disclosed method also includes determining a rate of change ofthe target deceleration and adjusting the maximum pump speed based onthe rate of change.

An example disclosed tangible computer readable storage medium includesinstructions which, when executed, cause a vehicle to determine, via aprocessor, a target deceleration for autonomous deceleration of avehicle and send a signal to a brake pump to decelerate the vehicle atthe target deceleration. The brake pump has a maximum pump speed. Theinstructions which, when executed, also cause the vehicle to determine arate of change of the target deceleration and adjust the maximum pumpspeed based on the rate of change.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the invention, reference may be made toembodiments shown in the following drawings. The components in thedrawings are not necessarily to scale and related elements may beomitted, or in some instances proportions may have been exaggerated, soas to emphasize and clearly illustrate the novel features describedherein. In addition, system components can be variously arranged, asknown in the art. Further, in the drawings, like reference numeralsdesignate corresponding parts throughout the several views.

FIG. 1A illustrates an example vehicle in accordance with the teachingsherein spaced apart from an object by a first distance.

FIG. 1B illustrates the vehicle of FIG. 1A spaced apart from the objectby a second distance.

FIG. 2 is a block diagram of an autonomous cruise controller and a brakesystem of the vehicle of FIGS. 1A-1B.

FIG. 3 is a block diagram of electronic components of the vehicle ofFIGS. 1A-1B.

FIG. 4 is a flowchart of an example method to decelerate the vehicle ofFIGS. 1A-1B via the autonomous cruise controller of FIG. 2.

FIG. 5 is a flowchart of an example method to adjust a maximum speed ofa brake pump of the braking system of FIG. 2.

FIG. 6 is a flowchart of another example method to adjust the maximumspeed of the brake pump of the braking system of FIG. 2.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

While the invention may be embodied in various forms, there are shown inthe drawings, and will hereinafter be described, some exemplary andnon-limiting embodiments, with the understanding that the presentdisclosure is to be considered an exemplification of the invention andis not intended to limit the invention to the specific embodimentsillustrated.

Generally, a vehicle includes a braking system to stop, slow down and/orotherwise decelerate the vehicle. Some braking systems include a brakepedal, a brake cylinder, brake lines, and wheel brakes (e.g., discbrakes, drum brakes, etc.). For example, the braking system may includea wheel brake for each respective wheel of the vehicle. To deceleratethe vehicle, the brake cylinder of such brake systems generateshydraulic pressure when a driver presses the brake pedal. Subsequently,the hydraulic pressure is supplied to the wheel brakes via the brakelines, which causes the wheel brakes to engage the wheels of the vehicleto limit and/or deter rotation of the wheels. As a result, the brakesystem causes the vehicle to stop, slow down, and/or otherwisedecelerate the vehicle.

Typically, the brake pump has a maximum operational speed that limits aspeed at which the brake pump operates. That is, the brake pump mayoperate at or below, but may not operate above, the maximum operationalspeed to generate the hydraulic pressure. Upon receiving the signal fromthe ACC system/vehicle decelerator to decelerate the vehicle, some brakepumps temporarily surge to the maximum operational speed of the brakepump. Subsequently, the current drawn by the brake pump may reduce overtime to produce a desired rate of deceleration associated with thesignal from the ACC system/vehicle decelerator. The maximum operationalspeed typically is set prior to and/or at the time the brake pump isinstalled in a vehicle. In some instances, if the maximum operationalspeed is set at a relatively low value, the maximum operational speedmay potentially prevent the vehicle from decelerating at a high rate ofdeceleration and/or increases an amount of time it takes for the brakepump to produce the high rate of deceleration. In other instances, ifthe maximum operational speed is set at a relatively high value, themaximum operational speed may potentially cause the vehicle to jerk uponapplication of the ACC-commanded deceleration and/or produce a noise,vibration, and harshness (NVH) that are heard by occupants of thevehicle when the brake pump surges to the maximum operational speed.

Example methods, apparatus, and computer readable media disclosed hereinadjusts a maximum speed of a brake pump of a vehicle while the vehicleis in operation. The maximum speed of the brake pump is adjusted duringoperation of an adaptive cruise control system of the vehicle based on arate of change of a target deceleration and/or a difference between thetarget deceleration and a measured deceleration to enable the brake pumpto produce higher rates of deceleration and to produce lower rates ofdeceleration with reduced jerking and/or a reduced NVH level heard byoccupant(s) in a cabin of the vehicle.

Examples disclosed herein include a brake pump of a brake system thatenables braking for a vehicle. The brake pump has a maximum pump speedthat is adjustable. A vehicle decelerator determines a targetdeceleration for autonomous deceleration and sends a signal to the brakepump to decelerate the vehicle at the target deceleration. Further, amaximum speed regulator is to adjust the maximum pump speed of the brakepump.

As used herein, a “maximum pump speed,” a “maximum brake pump speed,”and a “maximum speed of a brake pump” refer to an adjustable setting ofa brake pump that limits a speed of operation of the brake pump. Forexample, upon receiving a signal to initiate braking of the vehicle, thebrake pump surges to, but does not surpass, the maximum pump speed.Further, the maximum pump speed of a brake pump is limited by a physicalspeed cap of a brake pump. As used herein, a “pump speed upper limit,”and a “brake pump upper limit” refer to a highest pump speed at which abrake pump is physically able to operate.

As used herein, a “target deceleration” refers to a deceleration valueat which the vehicle is intended to decelerate. As used herein,“autonomous deceleration” refers to deceleration that is initiated by anautonomous system (e.g., e.g., a system in which motive functions arecontrolled by a vehicle without direct driver input) or asemi-autonomous system (e.g., a system in which some routine motivefunctions are controlled by a vehicle). For example, autonomousdeceleration may be initiated via autonomous cruise control. As usedherein, “cruise control” and “cruise control system” refer to a vehiclesystem that autonomously maintains a speed at which a vehicle istraveling. As used herein, “autonomous cruise control,” “adaptive cruisecontrol,” an “autonomous cruise control system” and an “adaptive cruisecontrol system” refer to a cruise control system that also autonomouslyadjusts a speed at which a vehicle is traveling to maintain a safedistance between the vehicle and a detected object (e.g., anothervehicle).

In examples disclosed herein, the maximum speed regulator determines arate of change of the target deceleration over time and adjusts themaximum pump speed based on the rate of change. The rate of change ofthe target deceleration may increase if the vehicle is rapidlyapproaching another object and/or the maximum pump speed is set at toolow of a value. Conversely, the rate of change of the targetdeceleration may decrease if the vehicle is slowly approaching the otherobject and/or the maximum pump speed is set at too high of a value.

In some such examples, the maximum speed regulator increases the maximumpump speed in response to determining that the rate of change is greaterthan a predetermined threshold (e.g., a first threshold), decreases themaximum pump speed in response to determining that the rate of change isless than another predetermined threshold (e.g., a second threshold),and/or otherwise maintains the maximum pump speed (e.g., a defaultmaximum pump speed). For example, the maximum speed regulator increasesthe maximum pump speed by a predetermined value (e.g., a first value)based on a difference between the rate of change and the first thresholdand/or decreases the maximum pump speed by another predetermined value(e.g., a second value) based on a difference between the rate of changeand the second threshold. In other such examples, the maximum speedregulator increases the maximum pump speed in response to detecting anincrease of the rate of change of the target deceleration, decreases themaximum pump speed in response to detecting a decrease of the rate ofchange of the target deceleration, and/or otherwise maintains themaximum pump speed.

In other examples disclosed herein, a sensor of the vehicle (e.g., afirst sensor such as an accelerometer or a vehicle speed sensor) detectsa measured deceleration, and the maximum speed regulator adjusts themaximum speed pump based on a difference between the target decelerationand the measured deceleration. As used herein, a “measured deceleration”refers to a deceleration at which a vehicle is measured (e.g., via anaccelerometer and/or a vehicle speed sensor) to be decelerating. Themeasured deceleration may be less than the target deceleration if thevehicle is rapidly approaching another object and/or the maximum pumpspeed is set at too low of a value. Conversely, the measureddeceleration may greater than the target deceleration if the vehicle isslowly approaching another object and/or the maximum pump speed is setat too high of a value.

In some such examples, the maximum speed regulator increases the maximumpump speed in response to determining that the measured deceleration isless than the target deceleration, decreases the maximum pump speed inresponse to determining that the measured deceleration is greater thanthe target deceleration, and/or otherwise maintains the maximum pumpspeed (e.g., a default maximum pump speed). For example, the maximumspeed regulator increases the maximum pump speed by a predeterminedvalue (e.g., a first value) and/or decreases the maximum pump speed byanother predetermined value (e.g., a second value) based on thedifference between the measured deceleration and the targetdeceleration. In other such examples, the maximum speed regulatorincreases the maximum pump speed in response to determining that themeasured deceleration is less than the target deceleration by at least apredetermined threshold (e.g., a first threshold), decreases the maximumpump speed in response to determining that the measured deceleration isgreater than the target deceleration by at least another predeterminedthreshold (e.g., a first threshold), and/or otherwise maintains themaximum pump speed.

In examples disclosed herein, the vehicle includes a sensor (e.g., asecond sensor such as a lidar sensor, a radar sensor, an ultrasonicsensor, a camera, etc.) that is to detect an object (e.g., anothervehicle) in front of the vehicle. In such examples, the vehicledecelerator sends the signal to the brake pump to maintain a bufferdistance between the vehicle and the object. As used herein, a “bufferdistance” refers to distance at which a vehicle safely travels behind anobject (e.g., another vehicle). For example, the vehicle deceleratordetermines the buffer distance based on structural characteristics ofthe vehicle (e.g., size, weight, etc.), a velocity of the vehicle, anacceleration of the vehicle, a velocity of the other object, anacceleration of the other object, and/or current weather conditions.Additionally or alternatively, the vehicle decelerator determines thetarget deceleration based on the structural characteristics of thevehicle (e.g., size, weight, etc.), the velocity of the vehicle, theacceleration of the vehicle, the velocity of the other object, theacceleration of the other object, and/or the current weather conditions.In some examples, the vehicle decelerator determines the relativevelocity between the vehicle and the object via the second sensor. Insome examples, the vehicle includes a vehicle speed sensor to determinea speed and/or an acceleration of the vehicle.

Turning to the figures, FIGS. 1A and 1B illustrate an example vehicle100 in accordance with the teachings herein. More specifically, FIG. 1Adepicts the vehicle 100 (e.g., a first vehicle) spaced apart from anobject 102 (e.g., another vehicle, a second vehicle) by a first distance104 greater than a buffer distance 106, and FIG. 1B depicts the vehicle100 spaced apart from the object 102 by the buffer distance 106.

The vehicle 100 may be a standard gasoline powered vehicle, a hybridvehicle, an electric vehicle, a fuel cell vehicle, and/or any othermobility implement type of vehicle. The vehicle 100 includes partsrelated to mobility, such as a powertrain with an engine, atransmission, a suspension, a driveshaft, and/or wheels, etc. Thevehicle 100 may be non-autonomous, semi-autonomous (e.g., some routinemotive functions controlled by the vehicle 100), or autonomous (e.g.,motive functions are controlled by the vehicle 100 without direct driverinput). In the illustrated example, the vehicle 100 includes a sensor108, a camera 110, an accelerometer 112, a vehicle speed sensor 114, acruise control switch 116, a brake pump 118, and an autonomous cruisecontroller 120.

In the illustrated example, the sensor 108 detects when the object 102is in front of the vehicle 100 and collects data that enables theautonomous cruise controller 120 (e.g., a vehicle decelerator 208 ofFIG. 2 of the autonomous cruise controller 120) to determine a distanceand/or a relative velocity between the vehicle 100 and the object 102(e.g., the first distance 104 of FIG. 1A, the buffer distance 106 ofFIG. 1B).

The sensor 108 is a lidar sensor, a radar sensor, an ultrasonic sensor,and/or any other type of sensor that is able to detect an object infront of the vehicle 100 and collect information to enable theautonomous cruise controller 120 to determine the distance and/or therelative velocity between the vehicle 100 and the object 102.Additionally or alternatively, the camera 110 of the vehicle 100 detectswhen the object 102 is in front of the vehicle 100 and collects data toenable the autonomous cruise controller 120 to determine the distanceand/or the relative velocity between the vehicle 100 and the object 102.

In the illustrated example, the accelerometer 112 measures or detects anacceleration and/or deceleration of the vehicle 100. For example, theaccelerometer 112 detects or measures a measured deceleration of thevehicle 100 upon the autonomous cruise controller 120 instructing abrake system (e.g., a brake system 200 of FIG. 2) to decelerate thevehicle 100 at a target deceleration. Further, the vehicle speed sensor114 measures or detects a velocity of the vehicle 100. In some examples,the velocity measured or detected by the vehicle speed sensor 114 isutilized to determine an acceleration and/or deceleration (e.g., themeasured deceleration) of the vehicle 100.

The cruise control switch 116 of the illustrated example enables adriver of the vehicle 100 to activate and/or deactivate a cruise controlsystem (e.g., an adaptive cruise control system) of the vehicle 100. Forexample, the cruise control switch 116 is a pushbutton, a toggle, and/orany other type of switch that the driver may operate to turn on and/orturn off the adaptive cruise control system of the vehicle 100.

Additionally, the brake pump 118 generates or produces hydraulicpressure and provides the hydraulic pressure to wheel brakes (e.g.,wheel brakes 206 of FIG. 2) to cause the vehicle 100 to decelerate. Forexample, when the adaptive cruise control system of the vehicle 100 isoperating and the sensor 108 and/or the camera 110 detects the object102, the brake pump 118 receives a signal from the autonomous cruisecontroller 120 to decelerate the vehicle 100 at a target deceleration.Additionally or alternatively, the brake pump 118 may receive a signalfrom a brake pedal when the driver is operating the vehicle manuallyand/or semi-autonomously.

Further, the brake pump 118 has a maximum pump speed that is adjustable.The maximum pump speed limits a speed of operation of the brake pump 118as the brake pump 118 generate hydraulic power and, thus, may affect thedeceleration of the vehicle 100 resulting from operation of the brakepump 118. The brake pump 118 also has a pump speed upper limit that isbased on physical and/or structural characteristics of the brake pump118 and components thereof. The pump speed upper limit defines a highestpotential value of the maximum pump speed (i.e., the maximum pump speedcannot exceed the pump speed upper limit) and, thus, may affect thedeceleration of the vehicle 100 resulting from operation of the brakepump 118.

The autonomous cruise controller 120 of the illustrated example operatesan adaptive cruise control system of the vehicle 100. For example, theautonomous cruise controller 120 autonomously maintains a speed at whichthe vehicle 100 is traveling and/or adjusts a speed at which the vehicle100 is traveling to maintain a safe distance (e.g., the buffer distance106) between the vehicle 100 and a detected object (e.g., the object102). When the sensor 108 and/or the camera 110 detects the object 102in front of the vehicle 100, the autonomous cruise controller 120autonomously decelerates the vehicle 100 to maintain the buffer distance106 between the vehicle 100 and the object 102 by instructing the brakepump 118 to decelerate the vehicle 100 at a target deceleration.

For example, if the vehicle 100 is approaching the object 102 and isspaced apart from the object 102 by the first distance 104 that isgreater than the buffer distance 106 (FIG. 1A), the autonomous cruisecontroller 120 determines a target deceleration that will enable thevehicle 100 to be spaced apart from the object 102 by at least thebuffer distance 106 (FIG. 1B). If the distance between the vehicle 100and the object 102 is less than the buffer distance 106, the autonomouscruise controller 120 will determine a target deceleration that willquickly cause the vehicle 100 to be spaced apart from the object 102 byat least the buffer distance 106 (FIG. 1B).

FIG. 2 is a block diagram the autonomous cruise controller 120 and abrake system 200 of the vehicle 100. As illustrated in FIG. 2, the brakesystem 200 includes the brake pump 118, brake lines 202, a brake linevalve 204, and wheel brakes 206 (e.g., disc brakes, drum brakes, etc.).Further, the autonomous cruise controller 120 includes a vehicledecelerator 208 that sends a signal to the brake system 200 todecelerate the vehicle 100 and a maximum speed regulator that adjusts amaximum pump speed of the vehicle 100.

In operation, the brake pump 118 receives a signal from the autonomouscruise controller 120 to decelerate the vehicle 100. For example, thebrake pump 118 receives a signal to decelerate the vehicle at a targetdeceleration. Based on the target deceleration, the brake pump 118generates or produces hydraulic pressure that is provides to the wheelbrakes 206 via the brake lines 202 and the brake line valve 204. In theillustrated example, a portion of the brake lines 202 fluidly connectthe brake pump 118 and the brake line valve 204, and other portions ofthe brake lines 202 fluidly connect the brake pump 118 to the respectivewheel brakes 206. Upon receiving the hydraulic pressure, each of thewheel brakes 206 engage a corresponding wheel of the vehicle 100 toreduce rotation of the wheels to decelerate the vehicle 100. In theillustrated example, the brake system 200 includes four wheel brakes 206that each interact with a different wheel of a four-wheel vehicle. Inother examples, the brake system 200 may include more or less of thewheel brakes 206 for vehicles having more, less, or the same number ofwheels.

In the illustrated example, the vehicle decelerator 208 of theautonomous cruise controller 120 determines the target deceleration forautonomous deceleration of the vehicle 100. Further, the vehicledecelerator 208 sends the signal to the brake pump 118 of the brakesystem 200. The signal instructs the brake pump 118 to generate ahydraulic pressure that is to cause the wheel brakes 206 to deceleratethe vehicle 100 at the target deceleration. The target decelerationdetermined by the vehicle decelerator 208 is to enable the vehicle 100to be spaced apart from the object 102 by at least the buffer distance106 (e.g., to maintain the buffer distance 106 between the vehicle 100and the object 102).

In some examples, the vehicle decelerator 208 determines the bufferdistance 106 based on a measured speed 212 of the vehicle 100, ameasured deceleration (or acceleration) 214 of the vehicle 100,structural characteristics of the vehicle 100 (e.g., size, weight,etc.), a speed of the object 102, a deceleration or acceleration of theobject 102, and/or current weather conditions. Additionally oralternatively, the vehicle decelerator 208 determines the targetdeceleration based on the measured speed 212 of the vehicle 100, themeasured deceleration 214 of the vehicle 100, a relative velocitybetween the vehicle 100 and the object 102, a distance between thevehicle 100 and the object 102 and/or current weather conditions.

For example, the vehicle decelerator 208 of the autonomous cruisecontroller 120 collects the measured speed 212 from the vehicle speedsensor 114 of the vehicle 100. The vehicle decelerator 208 collects themeasured deceleration 214 from the accelerometer 112 and/or determinesthe measured deceleration 214 based on the measured speed 212. Thevehicle decelerator 208 determines the distance (e.g., the firstdistance 104) between the vehicle 100 and the object 102 based on arelative object location 216 of the object 102 relative to the vehicle100. For example, the vehicle decelerator 208 collects the relativeobject location 216 from the sensor 108 and/or the camera 110 of thevehicle 100. Further, the vehicle decelerator 208 determines the speed,deceleration or acceleration, and/or relative velocity of the object 102based on the measured speed 212, the measured deceleration 214, and/orthe relative object location 216.

Further, the maximum speed regulator 210 of the autonomous cruisecontroller 120 adjusts the maximum pump speed of the brake pump 118. Forexample, the maximum speed regulator 210 sends a signal to the brakepump 118 to adjust the maximum pump speed of the brake pump 118. In someexamples, the maximum speed regulator 210 increases the maximum pumpspeed to enable the brake pump 118 to generate an increased hydraulicpressure to enable the brake system 200 to increase deceleration of thevehicle 100 and/or to decrease an amount of time needed for the brakesystem 200 to produce the target deceleration. In other examples inwhich the maximum pump speed of the brake pump 118 enables the vehicle100 to decelerate at the target deceleration, the maximum speedregulator 210 decreases the maximum pump speed to reduce jerkingresulting from abrupt deceleration of the vehicle and/or to reduce NVHlevels produced by the brake pump 118. The vehicle 100 may potentiallyotherwise jerk and/or result in high NVH levels heard by occupant(s)within a cabin of the vehicle 100 as a result of the brake pump 118surging to the maximum pump speed upon receiving a signal from thevehicle decelerator 208 to decelerate the vehicle 100 at the targetdeceleration. For example, the maximum speed regulator 210 reduces NVHlevels heard by occupant(s) within a cabin when the vehicle 100 istraveling at a low rate of speed and the brake pump 118 surges to themaximum pump speed.

In some examples, the maximum speed regulator 210 adjusts the maximumpump speed based on a rate of change of the target deceleration overtime. For example, the maximum speed regulator 210 determines a firsttarget deceleration at a first point-in-time, determines a second targetdeceleration at a second point-in-time different than the firstpoint-in-time, determines the rate of change between the first targetdeceleration and the second target deceleration, and determines whetherto adjust the maximum pump speed based on the rate of change. The targetdeceleration may change based on changes over time to the measured speed212, the measured deceleration 214, the relative object location 216,etc.

The rate of change of the target deceleration may increase if thevehicle 100 is rapidly approaching the object 102 and/or the maximumpump speed of the brake pump 118 is set at too low of a value. In suchexamples, the maximum speed regulator 210 increases the maximum pumpspeed of the brake pump 118 in response to detecting an increase of therate of change of the target deceleration to enable the brake pump 118to generate an increased hydraulic pressure associated with a greatertarget deceleration and/or to decrease an amount of time needed toproduce the target deceleration. For example, the maximum speedregulator 210 increases the maximum pump speed by a predetermined value(e.g., a first value) based on the rate at which the target decelerationincreases.

Conversely, the rate of change of the target deceleration may decreaseif the vehicle 100 is slowly approaching the object 102 and/or themaximum pump speed is set at too high of a value. In such examples, themaximum speed regulator 210 decreases the maximum pump speed of thebrake pump 118 in response to detecting a decrease of the rate of changeof the target deceleration to reduce jerking of the vehicle 100resulting from abrupt deceleration of the vehicle 100 and/or to reducean NVH level resulting from the brake pump 118 operating at or near themaximum pump speed. For example, the maximum speed regulator 210decreases the maximum pump speed by a predetermined value (e.g., asecond value) based on the rate at which the target decelerationdecreases.

In some examples in which the maximum speed regulator 210 adjusts themaximum pump speed based on the rate of change of the targetdeceleration, the maximum speed regulator 210 increases the maximum pumpspeed in response to determining that the rate of change is greater thana predetermined threshold (e.g., a first threshold). Further, themaximum speed regulator 210 decreases the maximum pump speed in responseto determining that the rate of change is less than anotherpredetermined threshold (e.g., a second threshold). For example, themaximum speed regulator 210 increases the maximum pump speed by apredetermined value (e.g., a first value) based on a difference betweenthe rate of change and the first threshold and decreases the maximumpump speed by another predetermined value (e.g., a second value) basedon a difference between the rate of change and the second threshold.Further, the maximum speed regulator 210 maintains the maximum pumpspeed if the rate of change is between the first threshold and thesecond threshold.

In other examples, the maximum speed regulator 210 adjusts the maximumpump speed based on difference between the target deceleration and themeasured deceleration 214. For example, the maximum speed regulator 210adjusts the maximum pump speed if the target deceleration is greaterthan the measured deceleration 214 (e.g., by a predetermined threshold)and/or if the measured deceleration 214 is greater than the targetdeceleration (e.g., by a predetermined threshold).

The target deceleration may be greater than the measured deceleration214 if the vehicle 100 is rapidly approaching the object 102 and/or themaximum pump speed of the brake pump 118 is set at too low of a value.In such examples, the maximum speed regulator 210 increases the maximumpump speed of the brake pump 118 in response to detecting that themeasured deceleration 214 is less than the target deceleration togenerate an increased hydraulic pressure associated with a greatertarget deceleration and/or to decrease an amount of time needed toproduce the target deceleration. For example, the maximum speedregulator 210 increases the maximum pump speed by a predetermined value(e.g., a first value) based on the difference between the measureddeceleration 214 and the target deceleration.

Conversely, the measured deceleration 214 may be greater than the targetdeceleration if the vehicle 100 is slowly approaching the object 102and/or the maximum pump speed is set at too high of a value. In suchexamples, the maximum speed regulator 210 decreases the maximum pumpspeed of the brake pump 118 in response to detecting the measureddeceleration 214 is less than the target deceleration to reduce jerkingand/or to reduce an NVH level. For example, the maximum speed regulator210 decreases the maximum pump speed by a predetermined value (e.g., asecond value) based on the difference between the measured deceleration214 and the target deceleration.

Further, in some examples in which the maximum speed regulator 210adjusts the maximum pump speed based on a difference between themeasured deceleration 214 and the target deceleration, the maximum speedregulator 210 increases the maximum pump speed in response todetermining that the measured deceleration 214 is less than the targetdeceleration by at least a predetermined threshold (e.g., a firstthreshold). Further, the maximum speed regulator 210 decreases themaximum pump speed in response to determining that the measureddeceleration 214 is greater than the target deceleration by at leastanother predetermined threshold (e.g., a second threshold). For example,the maximum speed regulator 210 increases the maximum pump speed by apredetermined value (e.g., a first value) based on a difference betweenthe first threshold and the difference between measured deceleration 214and the target deceleration. The maximum speed regulator 210 decreasesthe maximum pump speed by another predetermined value (e.g., a secondvalue) based on a difference between the second threshold and thedifference between the measured deceleration 214 and the targetdeceleration. Further, the maximum speed regulator 210 maintains themaximum pump speed if the difference between the measured deceleration214 and the target deceleration is between the first threshold and thesecond threshold.

In the illustrated example, the maximum speed regulator 210 adjusts themaximum pump speed of the brake pump 118 when the vehicle 100 is beingcontrolled via an adaptive cruise control system. In other examples, themaximum speed regulator 210 may adjust the maximum pump speed of thebrake pump 118 when the vehicle 100 is not being controlled via anadaptive cruise control system (e.g., the vehicle 100 is beingcontrolled manually and/or semi-autonomously by the driver). In suchexamples, the maximum speed regulator 210 that adjusts the maximum pumpspeed of the brake pump 118 may be external to the autonomous cruisecontroller 120.

FIG. 3 is a block diagram of electronic components 300 of the vehicle100. As illustrated in FIG. 3, the electronic components 300 includes anon-board computing platform 302, the camera 110, the cruise controlswitch 116, sensors 304, electronic control units (ECUs) 306, and avehicle data bus 308.

The on-board computing platform 302 includes a microcontroller unit,controller or processor 310 and memory 312. In some examples, theprocessor 310 of the on-board computing platform 302 is structured toinclude the vehicle decelerator 208, the maximum speed regulator 210and/or, more generally, the autonomous cruise controller 120.Alternatively, in some examples, the vehicle decelerator 208, themaximum speed regulator 210 and/or, more generally, the autonomouscruise controller 120 are incorporated into another electronic controlunit (ECU) (e.g., a brake control module 218, a brake pump module, etc.)with its own processor 310 and memory 312. The processor 310 may be anysuitable processing device or set of processing devices such as, but notlimited to, a microprocessor, a microcontroller-based platform, anintegrated circuit, one or more field programmable gate arrays (FPGAs),and/or one or more application-specific integrated circuits (ASICs). Thememory 312 may be volatile memory (e.g., RAM including non-volatile RAM,magnetic RAM, ferroelectric RAM, etc.), non-volatile memory (e.g., diskmemory, FLASH memory, EPROMs, EEPROMs, memristor-based non-volatilesolid-state memory, etc.), unalterable memory (e.g., EPROMs), read-onlymemory, and/or high-capacity storage devices (e.g., hard drives, solidstate drives, etc). In some examples, the memory 312 includes multiplekinds of memory, particularly volatile memory and non-volatile memory.

The memory 312 is computer readable media on which one or more sets ofinstructions, such as the software for operating the methods of thepresent disclosure, can be embedded. The instructions may embody one ormore of the methods or logic as described herein. For example, theinstructions reside completely, or at least partially, within any one ormore of the memory 312, the computer readable medium, and/or within theprocessor 310 during execution of the instructions.

The terms “non-transitory computer-readable medium” and“computer-readable medium” include a single medium or multiple media,such as a centralized or distributed database, and/or associated cachesand servers that store one or more sets of instructions. Further, theterms “non-transitory computer-readable medium” and “computer-readablemedium” include any tangible medium that is capable of storing, encodingor carrying a set of instructions for execution by a processor or thatcause a system to perform any one or more of the methods or operationsdisclosed herein. As used herein, the term “computer readable medium” isexpressly defined to include any type of computer readable storagedevice and/or storage disk and to exclude propagating signals.

The sensors 304 are arranged in and around the vehicle 100 to monitorproperties of the vehicle 100 and/or an environment in which the vehicle100 is located. One or more of the sensors 304 may be mounted to measureproperties around an exterior of the vehicle 100. Additionally oralternatively, one or more of the sensors 304 may be mounted inside acabin of the vehicle 100 or in a body of the vehicle 100 (e.g., anengine compartment, wheel wells, etc.) to measure properties in aninterior of the vehicle 100. For example, the sensors 304 includeaccelerometers, odometers, tachometers, pitch and yaw sensors, wheelspeed sensors, microphones, tire pressure sensors, biometric sensorsand/or sensors of any other suitable type. In the illustrated example,the sensors 304 include a radar sensor 314, a lidar sensor 316, theaccelerometer 112, and the vehicle speed sensor 114. The radar sensor314 and/or the lidar sensor 316 may be the sensor 108 of FIG. 1. Forexample, the radar sensor 314 detects and locates the object 102 viaradio waves, and the lidar sensor 316 detects and locates the object 102via lasers.

The ECUs 306 monitor and control the subsystems of the vehicle 100. Forexample, the ECUs 306 are discrete sets of electronics that includetheir own circuit(s) (e.g., integrated circuits, microprocessors,memory, storage, etc.) and firmware, sensors, actuators, and/or mountinghardware. The ECUs 306 communicate and exchange information via avehicle data bus (e.g., the vehicle data bus 308). Additionally, theECUs 306 may communicate properties (e.g., status of the ECUs 306,sensor readings, control state, error and diagnostic codes, etc.) toand/or receive requests from each other. For example, the vehicle 100may have seventy or more of the ECUs 306 that are positioned in variouslocations around the vehicle 100 and are communicatively coupled by thevehicle data bus 308. In the illustrated example, the ECUs 306 include abrake control module 318, an engine control unit 320, and a body controlmodule 322. For example, the brake control module 318 receives a signalfrom the vehicle decelerator 208 of the autonomous cruise controller 120and/or a brake pedal to decelerate the vehicle 100 and sends a signal tothe brake pump 118 of the brake system 200 to decelerate the vehicle 100at the target deceleration. Further, the engine control unit 320operates and/or controls performance (e.g., acceleration) of an engineof the vehicle 100. The body control module 322 controls one or moresubsystems throughout the vehicle 100, such as power windows, powerlocks, an immobilizer system, power mirrors, etc. For example, the bodycontrol module 322 includes circuits that drive one or more of relays(e.g., to control wiper fluid, etc.), brushed direct current (DC) motors(e.g., to control power seats, power locks, power windows, wipers,etc.), stepper motors, LEDs, etc.

The vehicle data bus 308 communicatively couples the camera 110, thecruise control switch 116, the on-board computing platform 302, thesensors 304, and the ECUs 306. In some examples, the vehicle data bus308 includes one or more data buses. The vehicle data bus 308 may beimplemented in accordance with a controller area network (CAN) busprotocol as defined by International Standards Organization (150)11898-1, a Media Oriented Systems Transport (MOST) bus protocol, a CANflexible data (CAN-FD) bus protocol (ISO 11898-7) and/a K-line busprotocol (ISO 9141 and ISO 14230-1), and/or an Ethernet™ bus protocolIEEE 802.3 (2002 onwards), etc.

FIG. 4 is a flowchart of an example method 400 to decelerate a vehiclevia an autonomous cruise controller. The flowchart of FIG. 4 isrepresentative of machine readable instructions that are stored inmemory (such as the memory 312 of FIG. 3) and include one or moreprograms which, when executed by a processor (such as the processor 310of FIG. 3), cause the vehicle 100 to implement the example vehicledecelerator 208 of FIG. 2, the example maximum speed regulator 210 ofFIG. 2 and/or, more generally, the example autonomous cruise controller120 of FIGS. 1-3. While the example program is described with referenceto the flowchart illustrated in FIG. 4, many other methods ofimplementing the example vehicle decelerator 208, the example maximumspeed regulator and/or, more generally, the example autonomous cruisecontroller 120 may alternatively be used. For example, the order ofexecution of the blocks may be rearranged, changed, eliminated, and/orcombined to perform the method 400. Further, because the method 400 isdisclosed in connection with the components of FIGS. 1-3, some functionsof those components will not be described in detail below.

Initially, at block 402, the autonomous cruise controller 120 determineswhether an object (e.g., the object 102) is detected to be in front ofthe vehicle 100 (e.g., via a second sensor). For example, the autonomouscruise controller 120 determines whether the sensor 108 (e.g., the radarsensor 314, the lidar sensor 316, an ultrasonic sensor), the camera 110,and/or any other sensor of the vehicle 100 has detected the presence ofthe object 102 in front of the vehicle 100. If an object is notdetected, the method 400 remains at block 402 until an object isdetected. If an object is detected, the method 400 proceeds to block404.

At block 404, the vehicle decelerator 208 of the autonomous cruisecontroller 120 determines a distance (e.g., the first distance 104)between the vehicle 100 and the object 102 detected at block 402. Forexample, the vehicle decelerator 208 determines the distance between thevehicle 100 and the object 102 based on the relative object location 216collected from the sensor 108 and/or the camera 110. In such examples,the sensor 108 and/or the camera 110 collects the relative objectlocation 216 to identify the location of the object 102 relative to thevehicle 100 and sends the relative object location 216 to the vehicledecelerator 208.

At block 406, the vehicle decelerator 208 determines the measured speed212 of the vehicle 100. For example, the vehicle speed sensor 114measures the measured speed 212 of the vehicle 100, and the vehicledecelerator 208 collects the measured speed 212 from the vehicle speedsensor 114. At block 408, the vehicle decelerator 208 determines themeasured deceleration 214 or measured acceleration of the vehicle 100(e.g., via a first sensor). In some examples, the accelerometer 112measures the measured deceleration 214 of the vehicle 100, and thevehicle decelerator 208 collects the measured deceleration 214 from theaccelerometer 112. In other examples, the vehicle decelerator 208determines the measured deceleration 214 based on the measured speed 212that is collected from the vehicle speed sensor 114.

At block 410, the vehicle decelerator 208 determines a relative velocityof the object 102 relative to the vehicle 100. For example, the vehicledecelerator 208 determines the relative velocity based on the measuredspeed 212 of the vehicle 100 and the relative object location 216 of theobject 102. Further, the vehicle decelerator 208 may determine arelative acceleration between the object 102 and the vehicle 100 basedon the measured speed 212 of the vehicle 100 and the relative objectlocation 216 of the object 102.

At block 412, the vehicle decelerator 208 determines the buffer distance106 between the vehicle 100 and the object 102 that enables the vehicle100 to safely travel behind the object 102. For example, the vehicledecelerator 208 determines the buffer distance 106 based on the measuredspeed 212 of the vehicle 100, the measured deceleration 214 of thevehicle 100, structural characteristics of the vehicle 100 (e.g., size,weight, etc.), the velocity of the object 102 relative to the vehicle100, the acceleration of the object 102 relative to the vehicle 100,and/or current weather conditions.

At block 414, the vehicle decelerator 208 determines whether todecelerate the vehicle 100. That is, the vehicle decelerator 208determines to decelerate the vehicle 100 to maintain the buffer distance106 between the vehicle 100 and the object 102. For example, the vehicledecelerator 208 determines to decelerate the vehicle 100 if the vehicle100 is within the buffer distance 106 and/or will be within the bufferdistance 106 without decelerating. The vehicle decelerator 208 maypredict whether the vehicle 100 will be within the buffer distance 106based on the measured speed 212 of the vehicle 100, the measureddeceleration 214 of the vehicle 100, the velocity of the object 102relative to the vehicle 100, and/or the acceleration of the object 102relative to the vehicle 100. In response to the vehicle decelerator 208determining that the vehicle 100 is not to decelerate, the method 400returns to block 402. Otherwise, in response to the vehicle decelerator208 determining that the vehicle 100 is to decelerate, the method 400proceeds to block 416.

At block 416, the vehicle decelerator 208 determines the targetdeceleration for the vehicle 100. For example, the vehicle decelerator208 determines the target deceleration based on the distance between thevehicle 100 and the object 102, the measured speed 212 of the vehicle100, the measured deceleration 214 of the vehicle 100, the relativevelocity of the object 102 relative to the vehicle 100, the relativeacceleration of the object 102 relative to the vehicle 100, and/orcurrent weather conditions. At block 418, the vehicle decelerator 208sends a signal to the brake pump 118 of the brake system 200 todecelerate the vehicle 100 at the target deceleration. Upon receivingthe signal, the brake pump 118 generates hydraulic pressure that isprovided to the wheel brakes 206 via the brake lines 202 to deceleratethe vehicle 100.

At block 418, the maximum speed regulator 210 of the autonomous cruisecontroller 120 determines the maximum pump speed for the brake pump 118.For example, the maximum speed regulator 210 determines whether toadjust the maximum pump speed based on a rate of change of the targetdeceleration over time and/or based on a difference between the measureddeceleration 214 and the target deceleration. Upon determining themaximum speed regulator 210 determining the maximum pump speed, themethod 400 returns to block 402.

FIG. 5 is a flowchart of an example method to implement block 420 toadjust a maximum speed of a brake pump of a vehicle braking system basedon a rate of change of a target deceleration. The flowchart of FIG. 5 isrepresentative of machine readable instructions that are stored inmemory (such as the memory 312 of FIG. 3) and include one or moreprograms which, when executed by a processor (such as the processor 310of FIG. 3), cause the vehicle 100 to implement the example maximum speedregulator 210 of FIG. 2. While the example program is described withreference to the flowchart illustrated in FIG. 5, many other methods ofimplementing the example maximum speed regulator 210 may alternativelybe used. For example, the order of execution of the blocks of FIG. 5 maybe rearranged, changed, eliminated, and/or combined to perform themethod to implement block 420. Further, because the method of FIG. 5 toimplement block 420 is disclosed in connection with the components ofFIGS. 1-3, some functions of those components will not be described indetail below.

Initially, to determine the maximum pump speed based on the rate ofchange of the target deceleration, the maximum speed regulator 210determines the rate of change of the target deceleration at block 502.For example, the maximum speed regulator 210 determines a first targetdeceleration at a first point-in-time, determines a second targetdeceleration at a second point-in-time different than the firstpoint-in-time, and subsequently determines the rate of change betweenthe first target deceleration and the second target deceleration.

At block 504, the maximum speed regulator 210 compares the rate ofchange to a first threshold (e.g., a predetermined threshold). Inresponse to the maximum speed regulator 210 determining that the rate ofchange is greater than the first threshold, the method of FIG. 5proceeds to block 506 at which the maximum speed regulator 210 increasesthe maximum pump speed. For example, the maximum speed regulator 210increases the maximum pump speed by a first predetermined value based ona difference between the rate of change and the first threshold. Inother examples, the maximum speed regulator 210 increases the maximumpump speed in response to detecting an increase in the rate of change ofthe target deceleration. Upon the maximum speed regulator 210 increasingthe maximum pump speed at block 506 or in response to the maximum speedregulator 210 determining that the rate of change is not greater thanthe first threshold, the method of FIG. 5 proceeds to block 508.

At block 508, the maximum speed regulator 210 compares the rate ofchange to a second threshold (e.g., a predetermined threshold). Inresponse to determining that the rate of change is less than the secondthreshold, the method of FIG. 5 proceeds to block 510 at which themaximum speed regulator 210 decreases the maximum pump speed. Forexample, the maximum speed regulator 210 decreases the maximum pumpspeed by a second predetermined value based on a difference between therate of change and the second threshold. In other examples, the maximumspeed regulator 210 decreases the maximum pump speed in response todetecting a decrease in the rate of change of the target deceleration.Upon the maximum speed regulator 210 decreasing the maximum pump speedat block 510 or in response to the maximum speed regulator 210determining that the rate of change is not less than the secondthreshold, the method of FIG. 5 ends.

FIG. 6 is a flowchart of another example method to implement block 420to adjust a maximum speed of a brake pump of a vehicle braking systembased on a difference between a target deceleration and a measureddeceleration. The flowchart of FIG. 6 is representative of machinereadable instructions that are stored in memory (such as the memory 312of FIG. 3) and include one or more programs which, when executed by aprocessor (such as the processor 310 of FIG. 3), cause the vehicle 100to implement the example maximum speed regulator 210 of FIG. 2. Whilethe example program is described with reference to the flowchartillustrated in FIG. 6, many other methods of implementing the examplemaximum speed regulator 210 may alternatively be used. For example, theorder of execution of the blocks of FIG. 6 may be rearranged, changed,eliminated, and/or combined to perform the method to implement block420. Further, because the method of FIG. 6 to implement block 420 isdisclosed in connection with the components of FIGS. 1-3, some functionsof those components will not be described in detail below.

Initially, to determine the maximum pump speed based on a differencebetween the measured deceleration 214 and the target deceleration, themaximum speed regulator 210 compares the measured deceleration 214 tothe target deceleration.

In response to the maximum speed regulator 210 determining that themeasured deceleration 214 is less than the target deceleration, themethod of FIG. 6 proceeds to block 604 at which the maximum speedregulator 210 determines a difference between the measured deceleration214 and the target deceleration and subsequently compares the differenceto a first threshold (e.g., a predetermined threshold). In response todetermining that the difference is greater than the first threshold, themethod of FIG. 5 proceeds to block 606 at which the maximum speedregulator 210 increases the maximum pump speed. For example, the maximumspeed regulator 210 increases the maximum pump speed by a firstpredetermined value based on a difference between first threshold andthe difference between the measured deceleration 214 and the targetdeceleration. Upon the maximum speed regulator 210 increasing themaximum pump speed at block 606 or in response to the maximum speedregulator 210 determining that the difference is less than or equal tothe first threshold, the method of FIG. 5 ends.

Otherwise, in response to the maximum speed regulator 210 determiningthat the measured deceleration 214 is greater than or equal to thetarget deceleration at block 602, the method of FIG. 6 proceeds to block608 at which the maximum speed regulator 210 determines a differencebetween the measured deceleration 214 and the target deceleration andsubsequently compares the difference to a second threshold (e.g., apredetermined threshold). In response to determining that the differenceis greater than the second threshold, the method of FIG. 6 proceeds toblock 610 at which the maximum speed regulator 210 decreases the maximumpump speed. For example, the maximum speed regulator 210 decreases themaximum pump speed by a second predetermined value based on a differencebetween second threshold and the difference between the measureddeceleration 214 and the target deceleration. Upon the maximum speedregulator 210 decreasing the maximum pump speed at block 610 or inresponse to the maximum speed regulator 210 determining that thedifference is less than or equal to the second threshold, the method ofFIG. 6 ends.

In this application, the use of the disjunctive is intended to includethe conjunctive. The use of definite or indefinite articles is notintended to indicate cardinality. In particular, a reference to “the”object or “a” and “an” object is intended to denote also one of apossible plurality of such objects. Further, the conjunction “or” may beused to convey features that are simultaneously present instead ofmutually exclusive alternatives. In other words, the conjunction “or”should be understood to include “and/or”. The terms “includes,”“including,” and “include” are inclusive and have the same scope as“comprises,” “comprising,” and “comprise” respectively.

The above-described embodiments, and particularly any “preferred”embodiments, are possible examples of implementations and merely setforth for a clear understanding of the principles of the invention. Manyvariations and modifications may be made to the above-describedembodiment(s) without substantially departing from the spirit andprinciples of the techniques described herein. All modifications areintended to be included herein within the scope of this disclosure andprotected by the following claims.

What is claimed is:
 1. A vehicle comprising: a brake pump having amaximum pump speed; a vehicle decelerator to: determine a targetdeceleration for autonomous deceleration; and send a signal to the brakepump to decelerate the vehicle at the target deceleration; and a maximumspeed regulator to: determine a rate of change of the targetdeceleration; and adjust the maximum pump speed based on the rate ofchange by: increasing the maximum pump speed in response to determiningthe rate of change of the target deceleration is greater than a firstthreshold, decreasing the maximum pump speed in response to determiningthe rate of change of the target deceleration is less than a secondthreshold, the first threshold being greater than the second threshold,and maintaining the maximum pump speed in response to determining therate of change of the target deceleration is between the first thresholdand the second threshold.
 2. The vehicle of claim 1, wherein the brakepump surges to the maximum pump speed upon receiving the signal from thevehicle decelerator to decelerate the vehicle at the targetdeceleration.
 3. The vehicle of claim 1, further including a sensor todetect an object in front of the vehicle, the brake pump decelerates thevehicle to maintain a buffer distance between the vehicle and theobject.
 4. The vehicle of claim 3, wherein the vehicle deceleratordetermines the buffer distance based on a speed of the vehicle.
 5. Thevehicle of claim 4, further including a vehicle speed sensor todetermine the speed of the vehicle.
 6. The vehicle of claim 3, whereinthe vehicle decelerator determines the target deceleration based on adistance between the vehicle and the object, a relative velocity betweenthe vehicle and the object, and an acceleration of the vehicle.
 7. Thevehicle of claim 6, wherein the vehicle decelerator determines thedistance and the relative velocity between the object and the vehiclevia the sensor.
 8. A method for autonomous deceleration of a vehicle,the method comprising: determining, via a processor, a targetdeceleration for the vehicle; sending a signal to a brake pump todecelerate the vehicle at the target deceleration, the brake pump havinga maximum pump speed; determining a rate of change of the targetdeceleration; and adjusting the maximum pump speed based on the rate ofchange by: increasing the maximum pump speed in response to determiningthe rate of change of the target deceleration is greater than a firstthreshold, decreasing the maximum pump speed in response to determiningthe rate of change of the target deceleration is less than a secondthreshold, the second threshold being less than the first threshold, andmaintaining the maximum pump speed in response to determining the rateof change of the target deceleration is between the first threshold andthe second threshold.
 9. The method of claim 8, further including:detecting, via a sensor, an object in front of the vehicle; anddetermining the target deceleration to maintain a buffer distancebetween the vehicle and the object.
 10. The method of claim 8, whereinadjusting the maximum pump speed of the brake pump further includesincreasing the maximum pump speed in response to detecting an increaseof the rate of change of the target deceleration.
 11. The method ofclaim 10, wherein adjusting the maximum pump speed of the brake pumpfurther includes decreasing the maximum pump speed in response todetecting a decrease of the rate of change of the target deceleration.12. The method of claim 8, wherein the maximum pump speed is increasedbased on a difference between the rate of change and the firstthreshold.
 13. The method of claim 8, wherein the maximum pump speed isdecreased based on a difference between the rate of change and thesecond threshold.
 14. A vehicle comprising: a brake pump having amaximum pump speed (MPS); and a controller to: instruct the brake pumpto decelerate the vehicle at a target deceleration; determine a rate ofchange (ROC) of the target deceleration; and responsive to determining:the ROC exceeds a first threshold, increase the MPS; the ROC is lessthan a second threshold, decrease the MPS; and the ROC is between thefirst and second thresholds, maintain the MPS.